ProxyPropertyDefinition.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::core
 * @author     Christian R. G. Dreher <c.dreher@kit.edu>
 * @date       2020
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
 
// STD/STL
#include <string>
 
// ArmarXCore
#include <ArmarXCore/core/IceManager.h>
#include <ArmarXCore/util/check.h>
 
namespace armarx
{
 
 
    enum class ProxyType
    {
        component,
        topic
    };
 
    class ProxyPropertyDefinitionBase
    {
 
    protected:
        const ProxyType m_proxy_type;
 
    public:
        ProxyPropertyDefinitionBase(ProxyType proxy_type) : m_proxy_type{proxy_type}
        {
            // pass
        }
 
        virtual ~ProxyPropertyDefinitionBase()
        {
            // pass
        }
 
        virtual void write_proxy_to_setter(IceManagerPtr ice_manager,
                                           const std::string& proxy_name) = 0;
 
        ProxyType
        getProxyType()
        {
            return m_proxy_type;
        }
    };
 
    template <typename PropertyType>
    class ProxyPropertyDefinition : public ProxyPropertyDefinitionBase
    {
 
    private:
        PropertyType* m_setter_ref;
 
    public:
        ProxyPropertyDefinition(PropertyType* setter_ref, ProxyType proxy_type) :
            ProxyPropertyDefinitionBase{proxy_type}, m_setter_ref{setter_ref}
        {
            ARMARX_CHECK(m_setter_ref != nullptr) << "`m_setter_ref` must not be a nullptr";
        }
 
        virtual ~ProxyPropertyDefinition()
        {
            // pass
        }
 
        virtual void
        write_proxy_to_setter(IceManagerPtr ice_manager, const std::string& proxy_name) override
        {
            switch (m_proxy_type)
            {
                case ProxyType::component:
                    *m_setter_ref = ice_manager->getProxy<PropertyType>(proxy_name);
                    break;
                case ProxyType::topic:
                    *m_setter_ref = ice_manager->getTopic<PropertyType>(proxy_name);
                    break;
            }
        }
    };
 
 
} // namespace armarx